KR20150016933A - Excavator control method and control device - Google Patents

Abstract

The control method of the shovel according to the embodiment of the present invention is a method of controlling the X direction movement (planar position control) of the bucket 6 while maintaining the height of the bucket 6 by the operation of the lever 26B in the front- (Height control) of the bucket 6 while maintaining the planar position of the bucket 6 by the operation of the lever 26A in the forward and backward directions.

Description

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an excavator control method and control device,

BACKGROUND OF THE INVENTION 1. Field of the Invention [0002] The present invention relates to a control method and a control apparatus for a shovel, and more particularly, to a control method and a control apparatus for controlling a shovel in performing a leveling work, a surface leveling work, and the like.

BACKGROUND ART [0002] An excavating locus control device for a hydraulic excavator is known in the past, which makes it possible to easily perform a stopping work (for example, refer to Patent Document 1).

This excavation locus control device sets a work permitting area extending horizontally in the extending direction of the front attachment of the hydraulic shovel and permits the operation of the arm and the boom when the axial center position of the arm front end pin is within the work permitting area. On the other hand, the excavated locus control device sets a work restraining area around the work permitting area, and prohibits any operation such as pulling the arm, raising the boom and falling the boom when the axial center position of the arm front pin enters the work restraining area do.

In this manner, the excavated locus control device allows the operator to easily perform a straight-line pulling operation and a picking-stop operation in accordance with the extending direction of the front attachment.

Prior art literature

(Patent Literature)

Patent Document 1: JP-A-8-277543

However, in the hydraulic excavator equipped with the excavated locus control device described in Patent Document 1, the operator uses an individual operation lever corresponding to each of the arms and the boom when they move. Therefore, it is necessary for the operator to operate the two operation levers at the same time when moving the bucket in the straight pulling operation or the picking stop operation. As a result, the straight pulling operation or the stopping operation is still a difficult task for a poor operator in the operation of the hydraulic shovel, and the support for such an operator is not sufficient.

SUMMARY OF THE INVENTION The present invention has been made in view of the above-described problems, and an object of the present invention is to provide a control method and a control apparatus for a shovel which makes it possible to more easily operate a front attachment.

In order to achieve the above-mentioned object, a control method of a shovel according to an embodiment of the present invention is a method of controlling a planar position of an end attachment while maintaining the height of the end attachment by operating one lever, The height control of the end attachment is performed while maintaining the planar position of the end attachment.

Further, the control device of the shovel according to the embodiment of the present invention can perform the control of the planar position of the end attachment while maintaining the height of the end attachment by the operation of one lever, or the planar position of the end attachment While controlling the height of the end attachment.

According to the above-described means, the present invention can provide a control method and a control apparatus for a shovel that makes it possible to more easily operate the front attachment.

1 is a side view showing a hydraulic type shovel that executes a control method according to an embodiment of the present invention.
2 is a block diagram showing a configuration example of a drive system of a hydraulic type shovel.
3 is an explanatory diagram of a three-dimensional rectangular coordinate system used in the control method according to the embodiment of the present invention.
Fig. 4 is a view for explaining the movement of the front attachment in the XZ plane.
5 is a top perspective view of the driver's seat in the cabin.
Fig. 6 is a flowchart showing the flow of processing in the case where the lever is operated in the automatic selecting mode.
7 is a block diagram (first example thereof) showing the flow of the X-direction movement control.
8 is a block diagram (second example) showing the flow of the X-direction movement control.
9 is a block diagram (first example thereof) showing the flow of the Z-direction movement control.
10 is a block diagram (second example) showing the flow of the Z-direction movement control.
11 is a block diagram showing a configuration example of a drive system of a hybrid type shovel for executing a control method according to an embodiment of the present invention.
12 is a block diagram showing a configuration example of a power storage system of a hybrid type shovel.
13 is a block diagram showing another configuration example of a drive system of a hybrid type shovel for executing a control method according to an embodiment of the present invention.
Fig. 14 is an explanatory diagram (1) of a coordinate system used in the regular plane mode.
Fig. 15 is an explanatory diagram (2) of a coordinate system used in the normal mode.
16 is a view for explaining the movement of the front attachment in the rearrangement mode.

1 is a side view showing a hydraulic type shovel that executes a control method according to an embodiment of the present invention.

An upper revolving structure 3 is mounted on a lower traveling body 1 of a hydraulic type shovel via a revolving mechanism 2. A boom 4 as an operating body is mounted on the upper revolving structure 3. An arm 5 as an operating body is mounted on the front end of the boom 4 and a bucket 6 which is an end attachment as an operating body is mounted on the tip of the arm 5. [ The boom 4, the arm 5 and the bucket 6 constitute a front attachment and are hydraulically driven by the boom cylinder 7, the arm cylinder 8 and the bucket cylinder 9, respectively. In the upper revolving structure 3, a cabin 10 is provided, and a power source such as an engine is mounted.

2 is a block diagram showing a configuration example of a drive system of the hydraulic type shovel of FIG. In Fig. 2, the mechanical dynamometer shows a double line, the high-pressure hydraulic line shows a bold solid line, the pilot line shows a broken line, and the electric drive and control system shows a thin solid line.

A main pump 14 and a pilot pump 15 are connected to the output shaft of the engine 11 as a mechanical drive unit as a hydraulic pump. A control valve 17 is connected to the main pump 14 via a high-pressure hydraulic line 16. The main pump 14 is a variable displacement type hydraulic pump in which the discharge flow rate per one rotation of the pump is controlled by the regulator 14A.

The control valve 17 is a hydraulic pressure control device for controlling the hydraulic system of the hydraulic type shovel. The hydraulic motors 1A (for the right side) and 1B (for the left side) for the lower traveling body 1, the boom cylinder 7, the arm cylinder 8 and the bucket cylinder 9 are controlled via the high- And is connected to the valve 17. An operating device 26 is connected to the pilot pump 15 through a pilot line 25. [

The operating device 26 includes a lever 26A, a lever 26B, and a pedal 26C. The lever 26A, the lever 26B and the pedal 26C are connected to the control valve 17 and the pressure sensor 29 via the hydraulic lines 27 and 28, respectively. The pressure sensor 29 is connected to a controller 30 that performs drive control of the electric machine.

However, in the present embodiment, an attitude sensor for detecting the attitude of each operating body is attached to each operating body. More specifically, a boom angle sensor 4S for detecting the inclination angle of the boom 4 is mounted on the support shaft of the boom 4. [ A rocking angle sensor 5S for detecting the opening and closing angle of the arm 5 is mounted on the support shaft of the arm 5 and a bucket angle sensor 6S for detecting the opening and closing angle of the bucket 6 is mounted on the bucket 6, (6). The boom angle sensor 4S supplies the detected boom angle to the controller 30. The rocking angle sensor 5S supplies the detected arm angle to the controller 30 and the bucket angle sensor 6S supplies the detected bucket angle to the controller 30. [

The controller (30) is a show control device as a main control unit that performs drive control of a hydraulic type shovel. The controller 30 is constituted by an arithmetic processing unit including a CPU (Central Processing Unit) and an internal memory, and is realized by a CPU executing a program for drive control stored in an internal memory.

Next, a three-dimensional rectangular coordinate system used in the control method according to the embodiment of the present invention will be described with reference to FIG. F3A in Fig. 3 is a side view of the hydraulic type shovel, and F3B in Fig. 3 is a top view of the hydraulic type shovel.

The Z-axis of the three-dimensional rectangular coordinate system corresponds to the pivot axis PC of the hydraulic type shovel and the origin O of the three-dimensional rectangular coordinate system corresponds to the pivot axis PC and the mounting surface of the hydraulic type shovel, as shown in F3A and F3B Corresponds to the intersection.

The X-axis orthogonal to the Z-axis extends in the extending direction of the front attachment, and the Y-axis orthogonal to the Z-axis extends in the direction perpendicular to the extending direction of the front attachment. That is, the X axis and the Y axis rotate about the Z axis together with the rotation of the hydraulic type shovel. However, the turning angle (?) Of the hydraulic type shovel has a positive direction in the counterclockwise direction with respect to the X-axis when viewed from the upper surface as shown in F3B.

As shown in F3A, the mounting position of the boom 4 relative to the upper swivel body 3 is represented by the boom pin position P1, which is the position of the boom pin as the boom rotary shaft. Similarly, the mounting position of the arm 5 with respect to the boom 4 is indicated by the arm pin position P2, which is the position of the arm pin as the arm rotation shaft. The mounting position of the bucket 6 with respect to the arm 5 is indicated by the bucket pin position P3, which is the position of the bucket pin as the bucket rotation axis. The tip end position of the bucket 6 is indicated by the bucket tip end position P4.

The length of the line segment SG1 connecting the boom pin position P1 and the arm pin position P2 is expressed by a predetermined value L ₁ as a boom length and is defined by connecting the arm pin position P2 and the bucket pin position P3 The length of the line segment SG2 is represented by a predetermined length L ₂ and the length of the line segment SG 3 connecting the bucket pin position P 3 and the bucket tip end position P 4 is set to a predetermined value L ₃ ).

An angle formed between the line segment SG1 and the horizontal plane is represented by a large angle? ₁ and an angle formed between the line segment SG2 and the horizontal plane is represented by a large angle? ₂ . , And an angle formed between the line segment SG3 and the horizontal plane is represented by a large perception angle? ₃ . Hereinafter, the large crustal angles? ₁ ,? ₂ ,? _{3 are also} referred to as boom rotation angle, arm rotation angle, and bucket rotation angle, respectively.

Here, the three-dimensional coordinates of the bucket pin position P 1 are (X, Y, Z) = (H _0X , 0, H _0Z ) (Xe, Ye, Ze), Xe and Ze are expressed by the equations (1) and (2), respectively. Note that Xe and Ye denote the plane position of the end attachment, and Ze denotes the height of the end attachment.

_{Xe = H 0X + L 1 cosβ} 1 + L 2 cosβ 2 + L 3 cosβ 3 ... (One)

_{Ze = H 0z + L 1 sinβ} 1 + L 2 sinβ 2 + L 3 sinβ 3 ... (2)

However, Ye becomes 0. This is because the bucket tip position P4 exists on the XZ plane.

Since the coordinate values of the boom pin position P1 are fixed, when the large face angles? ₁ ,? ₂ , and? ₃ are determined, the coordinate value of the bucket tip position P4 is explicitly determined. Likewise, when the large crank angle? ₁ is determined, if the coordinate value of the arm pin position P2 is explicitly determined and the large crank angle? ₁ and? ₂ are determined, the coordinate value of the bucket pin position P3 becomes .

Next, with reference to Fig. 4, the respective outputs of the boom angle sensor 4S, the rocking angle sensor 5S, and the bucket angle sensor 6S, the boom rotation angle beta ₁ , the arm rotation angle beta ₂ , , And the bucket rotation angle? ₃ will be described. 4 is a diagram for explaining the movement of the front attachment in the XZ plane.

4, the boom angle sensor 4S is installed at the boom pin position P1, the dark angle sensor 5S is installed at the arm position P2, and the bucket angle sensor 6S is located at the bucket pin position P3.

Further, the boom angle sensor 4S detects and outputs an angle? ₁ formed between the line segment SG1 and the vertical line. The dark angle degree sensor 5S detects and outputs an angle? ₂ formed between the extension line of the line segment SG1 and the line segment SG2. The bucket angle sensor 6S detects and outputs an angle? ₃ formed between the extension line of the line segment SG2 and the line segment SG3. However, in Fig. 4, the angle? ₁ is set to the positive direction in the counterclockwise direction with respect to the line segment SG1. Likewise, the angle? ₂ is a positive direction in the counterclockwise direction with respect to the line segment SG2, and the angle? ₃ is a positive direction in the counterclockwise direction with respect to the line segment SG3. In Fig. 4, the boom rotation angle beta ₁ , the arm rotation angle beta ₂ and the bucket rotation angle beta ₃ are set in the counterclockwise direction with respect to the line parallel to the X axis.

From the above relationship, the boom rotation angle (β _1), arm rotation angle (β _2), the bucket rotation angle (β _3), the angle (α _1, α _2, α _3), respectively the equation (3) using the formula (4) and (5), respectively.

β ₁ = 90-α ₁ ... (3)

? ₂ =? _{1 -} ? ₂ = 90 -? _{1 -} ? ₂ ... (4)

β ₃ = β ₂ -α ₃ = 90-α ₁ -α ₂ -α ₃ (5)

However, as described above,? ₁ ,? ₂ ,? ₃ appear as slopes of the boom 4, the arm 5, and the bucket 6 with respect to the horizontal plane.

Therefore, when the angles (alpha ₁ , alpha ₂ , alpha ₃ ) are determined using the equations (1) to (5), the boom rotation angle beta ₁ , the arm rotation angle beta ₂ , beta ₃ ) is explicitly determined and the coordinate value of the bucket tip position P4 is explicitly determined. Similarly, when the angle? ₁ is determined, the coordinate values of the boom rotation angle? ₁ and the armature position P2 are explicitly determined, and when the angles? ₁ and? ₂ are determined, ₂ and the bucket pin position P3 are explicitly determined.

It should be noted that the boom angle sensor 4S, the rocking angle sensor 5S and the bucket angle sensor 6S are arranged such that the boom rotation angle beta ₁ , the arm rotation angle beta ₂ and the bucket rotation angle beta ₃ are directly May be detected. In this case, the operations of the equations (3) to (5) can be omitted.

Next, the operation device 26 used in the control method of the shovel according to the embodiment of the present invention will be described with reference to Fig. 5 is a top perspective view of the driver's seat in the cabin 10, showing a state in which the lever 26A is disposed on the left front of the driver's seat and the lever 26B is disposed on the right front of the driver's seat. F5A in Fig. 5 shows the lever setting in the normal mode, and F5B in Fig. 5 shows the lever setting in the automatic selecting mode.

Specifically, in the normal mode of F5A, the arm 5 is opened when the lever 26A is turned forward, and the arm 5 is closed when the lever 26A is turned backward. When the lever 26A is turned to the left, the upper swivel body 3 turns leftward in the counterclockwise direction when viewed from the upper surface. When the lever 26A is turned to the right, when the upper swivel body 3 is viewed from the upper side, . Further, when the lever 26B is turned forward, the boom 4 descends, and when the lever 26B is turned backward, the boom 4 rises. When the lever 26B is turned to the left, the bucket 6 is closed. When the lever 26B is turned to the right, the bucket 6 is opened.

On the other hand, in the F5B automatic selecting mode, when the lever 26A is turned forward, the values of the Z coordinate are decreased while the values of the X coordinate and Y coordinate of the bucket tip position P4 are made unchanged, At least one of them moves. However, the bucket 6 may be moved. At least one of the boom 4 and the arm 5 is moved such that the value of the Z coordinate is increased while the value of the X coordinate and the Y coordinate of the bucket tip position P4 are made unchanged when the lever 26A is turned backward. However, the bucket 6 may be moved. Hereinafter, the control performed in the forward and backward directions of the lever 26A, that is, the control performed in accordance with the Z directional manipulation of the bucket 6 as the end attachment is referred to as "Z directional motion control" However, the operation of the lever 26A in the left-right direction is the same as that in the normal mode.

When the lever 26B is turned forward, the values of the Y coordinate and the Z coordinate of the bucket tip end position P4 are made unchanged and the value of the X coordinate is increased so that the boom 4 and the arm 5 At least one of them moves. However, the bucket 6 may be moved. At least one of the boom 4 and the arm 5 is moved such that the value of the X coordinate decreases while the value of the Y coordinate and the Z coordinate of the bucket tip position P4 are made unchanged when the lever 26B is turned backward. However, the bucket 6 may be moved. Hereinafter, the control performed in the forward and backward directions of the lever 26B, that is, the control performed in accordance with the operation of the bucket 6 in the X direction as the end attachment is referred to as "X direction movement control" or "plane position control".

When the lever 26B is turned to the left side, the bucket rotation angle beta ₃ is increased. When the lever 26B is turned to the right side, the bucket rotation angle beta ₃ is decreased in the F5B automatic selection mode. That is, when the lever 26B is turned to the left, the bucket 6 is closed, and when the lever 26B is turned to the right, the bucket 6 is opened. Thus, the movement of the bucket 6 caused by the operation of the lever 26B in the left-right direction is the same as in the case of the normal mode. In the normal mode, on the other hand, the target value of the bucket rotation angle [beta] ₃ corresponding to the lever manipulated variable is determined while the bucket 6 is moved by supplying the operating fluid of the flow rate corresponding to the lever manipulated variable to the bucket cylinder 9. [ So that the bucket 6 is moved. Details of the control in the automatic grading mode will be described later.

Fig. 6 is a flowchart showing the flow of processing when lever operation is performed in the automatic selecting mode.

First, the controller 30 determines whether or not the automatic selection mode is selected in the mode changeover switch provided near the driver's seat in the cabin 10 (step S1).

If it is determined that the automatic selecting mode has been selected (YES in step S1), the controller 30 detects the lever operation amount (step S2).

Specifically, the controller 30 detects the manipulated variables of the levers 26A and 26B based on the output of the pressure sensor 29, for example.

Thereafter, the controller 30 determines whether or not the X-directional operation has been performed (step S3). Specifically, the controller 30 determines whether or not the operation in the forward and backward directions of the lever 26B has been performed.

If it is determined that the X direction operation has been performed (YES in step S3), the controller 30 executes the X direction movement control (the plane position control) (step S4).

If it is determined that the X directional operation has not been performed (NO in step S3), the controller 30 determines whether or not the Z directional operation has been performed (step S5). Specifically, the controller 30 determines whether or not an operation in the forward and backward directions of the lever 26A has been performed.

When it is determined that the Z direction operation has been performed (YES in step S5), the controller 30 executes Z direction movement control (height control) (step S6).

When it is determined that the Z direction operation has not been performed (NO in step S5), the controller 30 determines whether or not the operation in the [theta] direction has been performed (step S7). Specifically, the controller 30 determines whether or not an operation in the left-right direction of the lever 26A has been performed.

When it is determined that the operation in the [theta] direction has been performed (YES in step S7), the controller 30 executes the turning operation (step S8).

If it is determined that the operation in the [theta] direction has not been performed (NO in step S7), the controller 30 determines whether or not the operation in the [beta] ₃ direction has been performed (step S9). Specifically, the controller 30 determines whether or not an operation in the left-right direction of the lever 26B has been performed.

If it is determined that the _3- way operation has been performed (YES in step S9), the controller 30 executes the bucket opening / closing operation (step S10).

However, the flow of control shown in Fig. 6 is the case of a single operation in which one of the X direction operation, the Z direction operation, the? Direction operation, and the? ₃ direction operation is executed, But also in the case of the combined operation. For example, a plurality of controls during the X-direction movement control, the Z-direction movement control, the swing operation, and the bucket opening / closing operation may be simultaneously executed.

Next, the details of the X-direction movement control (plane position control) will be described with reference to Figs. 7 and 8. Fig. However, Figs. 7 and 8 are block diagrams showing the flow of X-direction movement control.

When the X-directional operation is performed by the lever 26B, the controller 30 calculates the displacement in the X-axis direction of the bucket tip end position P4 in accordance with the X-directional operation of the lever 26B as shown in Fig. Open control. Specifically, the controller 30 generates the command value Xer as the value of the X-coordinate after movement of the bucket tip end position P4, for example. More specifically, the controller 30 generates the X-direction command value Xer in accordance with the lever operation amount Lx of the lever 26B by using the X-direction command value generation unit CX. The X-direction command value generator CX derives the X-direction command value Xer from the lever manipulated variable Lx using, for example, a previously registered table or the like. The larger the manipulated variable of the lever 26B is, for example, the larger the manipulated variable of the lever 26B, the smaller the value Xe of the X coordinate before movement of the bucket tip position P4 and the value Xer of the moved X coordinate Quot; Xe ") is increased. However, the controller 30 may generate the value Xer such that? Xe is constant regardless of the operation amount of the lever 26B. In addition, the values of the Y coordinate and the Z coordinate of the bucket tip position P4 are unchanged before and after the movement.

Thereafter, the controller 30 calculates the respective set values β ₁ (β ₁ , β ₂ ) of the boom rotation angle β ₁ , the arm rotation angle β ₂ and the bucket rotation angle β ₃ based on the generated command value Xer and generates r, β r _2, r ₃ β).

Specifically, the controller 30 generates the command values (? ₁ r,? ₂ r,? ₃ r) by using the above-described equations (1) and (2). The X coordinate and the Z coordinate value Xe and Ze of the bucket tip position P4 are obtained by the boom rotation angle beta ₁ and the arm rotation angle beta ₂ as shown in the formulas (1) and ( ₂ ) , And bucket rotation angle ( ₃ ). Further, the current value is used as it is for the Z-coordinate value Zer after the bucket tip end position P4 has moved. Therefore, when the current command value β ₃ r of the bucket rotation angle β ₃ is kept at the current value, the generated command value Xer is substituted into Xe in the equation (1), and the current value is substituted into the value β _{3 as} it is. In the equation (2), Ze is substituted for the current value as it is, and the current value is substituted for β ₃ as it is. As a result, by solving the simultaneous equations of equations (1) and (2) including two unknowns (β ₁ , β ₂ ), the values of the boom rotation angle β ₁ and the arm rotation angle β ₂ . The controller 30 sets these derived values as command values (? ₁ r,? ₂ r).

8, each value of the boom rotation angle beta ₁ , the arm rotation angle beta ₂ and the bucket rotation angle beta ₃ is set to a predetermined value the arm 5, and the bucket 6 are operated so that the buckets 4, 6 ₁ r, _{2 2} r, and 3 ₃ r. However, the controller 30, the equation (3) to (5) using, command values (β ₁ r, β ₂ r, β ₃ r) command value (α ₁ r, α ₂ r, α ₃ corresponding to r) may be derived. The controller 30 determines whether or not the angles alpha ₁ , alpha ₂ and alpha ₃ which are the outputs of the boom angle sensor 4S, the dark angle sensor 5S and the bucket angle sensor 6S satisfy the derived command value alpha ₁ the r, ₂ α r, α r ₃₎ is a boom 4, arm 5 and bucket 6, even if the operation to be.

Specifically, the controller 30 generates the current value and the boom cylinder pilot pressure command corresponding to the difference (Δβ ₁₎ with the command value (β r ₁₎ of the boom rotation angle (β _1). Then, a control current corresponding to the boom cylinder pilot pressure command is outputted to the boom electromotive proportional valve. In the automatic selecting mode, the boom electromagnetic proportional valve outputs a pilot pressure corresponding to the control current corresponding to the boom cylinder pilot pressure command to the boom control valve. However, in the normal mode, the boom electromagnetic proportional valve outputs a pilot pressure corresponding to the operation amount in the forward and backward directions of the lever 26B to the boom control valve.

Thereafter, the boom control valve, which has received the pilot pressure from the boom electromagnetic proportional valve, supplies the operating fluid discharged from the main pump 14 to the boom cylinder 7 in the flow direction and flow rate corresponding to the pilot pressure. The boom cylinder 7 is expanded and contracted by operating oil supplied through the boom control valve. The boom angle sensor 4S detects the angle? ₁ of the boom 4 moving by the expanding and shrinking boom cylinder 7.

Thereafter, the controller 30 substitutes the angle? ₁ detected by the boom angle sensor 4S into the equation (3) to calculate the boom rotation angle? ₁ . The calculated value is fed back as the current value of the boom rotation angle (? ₁ ) used when generating the boom cylinder pilot pressure command.

It should be noted that the above description relates to the operation of the boom 4 based on the command value beta ₁ r but the operation of the arm 5 based on the command value beta ₂ r and the operation of the command value beta ₃ r The operation of the bucket 6 based on the buckets 6 is also applicable. For this reason, the description thereof is omitted for the flow of an operation of the bucket (6) based on the operation, and a command value (β r ₃₎ of the arm 5 based on the command value (β r _2).

As it is shown in Figure 7 the controller 30, using a pump discharge amount derivation unit (CP1, CP2, CP3), to derive the pump discharge amount from the reference value (β ₁ r, β ₂ r, β ₃ r) . In this embodiment, the pump flow rate derived portions (CP1, CP2, CP3) is to derive a pump discharge amount from the reference value (β r _1, r ₂ β, ₃ β r) by using a table registered in advance. The pump discharge amounts derived by the pump discharge amount derivation units CP1, CP2, and CP3 are summed and input to the pump flow rate calculation unit as the total pump discharge amount. The pump flow rate calculation section controls the discharge amount of the main pump 14 based on the input total pump discharge flow rate. In this embodiment, the pump flow rate calculation unit controls the discharge amount of the main pump 14 by changing the swash plate inclination angle of the main pump 14 in accordance with the total pump discharge amount.

As a result, the controller 30 controls the opening of the boom control valve, the arm control valve, and the bucket control valve and the control of the discharge amount of the main pump 14 so that the boom cylinder 7, the arm cylinder 8, It is possible to distribute an appropriate amount of working oil to the cylinder (9).

Thus, the controller 30 generates a command value (Xer), reference value (β ₁ r, β ₂ r, and β ₃ r) controlling the amount of ejection of the product, the main pump (14) of, and, the angle sensor (4S 5, and 6 based on the output of the bucket tip position P4, 5S, and 6S is set as one control cycle, and this control cycle is repeated to perform the X-direction movement control of the bucket tip position P4.

Further, in the above-mentioned description, the command value of the bucket rotation angle _{(β 3) (β 3 r} ) is the current value of the bucket rotation angle (β ₃₎ used as it is as. However, the arm command value of the rotation angle (β ₂₎ the value, for which explicitly determined according to the value g., Arm rotation angle (β _2), the value and the value obtained by adding the value bucket rotation angle (β ₃₎ of the ( beta ₃ r).

Further, in the X direction movement control, the displacement of the X coordinate of the bucket tip end position P4 is controlled open while the Y coordinate and Z coordinate of the bucket tip end position P4 are fixed. However, the displacement of the X coordinate of the bucket pin position P3 may be open-controlled while the Y coordinate and the Z coordinate of the bucket pin position P3 are fixed. In this case, generation of the command value? ₃ r and control of the bucket 6 are omitted.

Next, details of the Z-direction movement control (height control) will be described with reference to Figs. 9 and 10. Fig. However, Figs. 9 and 10 are block diagrams showing the flow of Z-direction movement control.

When the Z-directional operation is performed by the lever 26A, the controller 30 calculates the displacement in the Z-axis direction of the bucket tip end position P4 in accordance with the Z-directional operation of the lever 26A as shown in Fig. Open control. Specifically, the controller 30 generates the command value Zer as the Z-coordinate value after the bucket tip end position P4 has been moved, for example. More specifically, the controller 30 generates the Z-direction command value Zer in accordance with the manipulated variable Lz of the lever 26A by using the Z-direction command value generator CZ. The Z-direction command value generator CZ derives the Z-direction command value Zer from the lever manipulated variable Lz using, for example, a previously registered table or the like. The Z-direction command value generation section CZ calculates the Z value of the Z-coordinate value before movement of the bucket tip end position P4 and the Z value of the Z-coordinate value after movement, for example, as the manipulated variable of the lever 26A is larger Zer is generated so that the difference? However, the controller 30 may generate the value Zer such that? Ze is constant regardless of the operation amount of the lever 26A. In addition, the values of the X coordinate and the Y coordinate of the bucket tip position P4 are unchanged before and after the movement.

Then, the controller 30, based on the generated command value (Zer), the boom rotation angle (β _1), arm rotation angle (β _2), and each command value of the bucket rotation angle (β ₃₎ (β ₁ and generates r, β r _2, r ₃ β).

Specifically, the controller 30 generates the command values (? ₁ r,? ₂ r,? ₃ r) by using the above-described equations (1) and (2). The X coordinate and the Z coordinate value Xe and Ze of the bucket tip position P4 are obtained by the boom rotation angle beta ₁ and the arm rotation angle beta ₂ as shown in the formulas (1) and ( ₂ ) , And bucket rotation angle ( ₃ ). Further, the current value is used as it is for the X-coordinate value Xer after the bucket tip end position P4 has moved. Due to this, the bucket when the command value (β r ₃₎ of the rotation angle (β ₃₎ while the current hit by the formula (1) Xe has been assigned as the present value, to be present value is substituted as β _3. The generated command value Zer is substituted into Ze in the equation (2), and the current value is substituted into the value of? _{3 as} it is. The value of the result, two unknowns (β _1, β ₂₎ expression, including (1) and (2) by solving the simultaneous equations, the boom rotation angle (β ₁₎ and the arm rotation angle (β ₂₎ of the Lt; / RTI > The controller 30 sets these derived values as command values (? ₁ r,? ₂ r).

10, each of the values of the boom rotation angle beta ₁ , the arm rotation angle beta ₂ and the bucket rotation angle beta ₃ is set to a predetermined value the arm 5, and the bucket 6 are operated so that the buckets 4, 6 ₁ r, _{2 2} r, and 3 ₃ r. However, since the operation of the boom 4, the arm 5, and the bucket 6 and the control of the discharge amount of the main pump 14 can be applied as they are in the X-direction movement control, The description will be omitted.

Thus, the controller 30 generates a command value (Zer), reference value (β ₁ r, β ₂ r, and β ₃ r) of the product, the main pump 14 is controlled and the angle sensor (4S, 5S of the discharge rate of the 5 and 6 based on the output of the bucket tip end position P4 and 6S is set as one control cycle and the control cycle is repeated to perform the Z direction movement control of the bucket tip position P4.

Further, in the above-mentioned description, the command value of the bucket rotation angle _{(β 3) (β 3 r} ) is the current value of the bucket rotation angle (β ₃₎ used as it is as. However, the arm command value of the rotation angle (β ₂₎ the value, for which explicitly determined according to the value g., Arm rotation angle (β _2), the value and the value obtained by adding the value bucket rotation angle (β ₃₎ of the ( beta ₃ r).

In the Z direction movement control, the displacement of the Z coordinate of the bucket tip end position P4 is open-controlled while the X coordinate and the Y coordinate of the bucket tip end position P4 are fixed. However, the displacement of the Z coordinate of the bucket pin position P3 may be open-controlled while the X coordinate and Y coordinate of the bucket pin position P3 are fixed. In this case, generation of the command value? ₃ r and control of the bucket 6 are omitted.

As described above, the control method of the shovel according to the embodiment of the present invention is not limited to the expansion and contraction control of each of the boom cylinder 7, the arm cylinder 8, and the bucket cylinder 9, And is used for position control of the bucket tip position P4. This control method realizes the operation of increasing and decreasing the Z coordinate while maintaining the values of the X coordinate and Y coordinate of the bucket rotation angle ₃ and the bucket tip end position P4 by the operation of one lever . It is also possible to realize the operation of increasing or decreasing the value of the X coordinate while maintaining the values of the Y coordinate and Z coordinate of the bucket rotation angle ₃ and the bucket tip end position P4 with the operation of one lever.

Further, in this control method, the plane position of the end attachment and the height of the end attachment may be used as the bucket pin position P3, and the lever manipulated variable may be used for position control of the bucket pin position P3. In this case, this control method can realize the operation of increasing and decreasing the Z coordinate value by operating one lever while maintaining the values of the X coordinate and Y coordinate of the bucket pin position P3. The operation of increasing or decreasing the value of the X coordinate can be realized by the operation of one lever while maintaining the Y coordinate and the Z coordinate of the bucket pin position P3. In this case, X _P3 and Z _P3 are expressions (6) and (7) respectively when the three-dimensional coordinate of the bucket pin position P3 is (X, Y, Z) = (X _P3 , Y _P3 , Z _P3 ) Respectively.

_{X P3 = H 0X + L 1} cosβ 1 + L 2 cosβ 2 ... (6)

_{Z P3 = H 0z + L 1} sinβ 1 + L 2 sinβ 2 ... (7)

However, Y _P3 becomes zero. This is because the bucket pin position P3 exists on the XZ plane.

In this case, there is no thing which is generated command value (β r ₃₎ from the command value (Xer) in the X direction movement control, which do not command value (β r ₃₎ is produced from the command value (Zer) in Z direction movement control.

Next, with reference to Fig. 11, a hybrid shovel for executing the control method according to the embodiment of the present invention will be described. Fig. 11 is a block diagram showing a configuration example of a drive system of a hybrid showbear. In Fig. 11, the mechanical dynamometer shows double lines, the high-pressure hydraulic line shows a thick solid line, the pilot line shows a broken line, and the electric drive and control system shows a thin solid line. 11 includes the electric motor 12, the transmission 13, the inverter 18 and the power storage system 120 in place of the swing hydraulic motor 21B. The inverter 20, 2 in that it includes a load driving system composed of a swinging electric motor 21, a resolver 22, a mechanical brake 23, and a swing transmission 24. However, in other respects, it is common to the drive system of Fig. Therefore, description of common points will be omitted and differences will be described in detail.

11, the engine 11 as a mechanical drive unit and the electric motor generator 12 as an assist drive unit for generating electric power are connected to two input shafts of the transmission 13, respectively. A main pump 14 and a pilot pump 15 are connected to the output shaft of the transmission 13 as a hydraulic pump.

A power storage system (power storage device) 120 including a capacitor as a capacitor is connected to the motor generator 12 via an inverter 18. [

The power storage system 120 is disposed between the inverter 18 and the inverter 20. [ Thus, when at least one of the electric motor generator 12 and the electric motor for swiveling 21 is performing the backward operation, the power storage system 120 supplies the electric power necessary for backward operation and, when at least one of them performs the power generation operation , And a power storage system (120) accumulates electric power generated by the power generation operation as electric energy.

12 is a block diagram showing an example of the configuration of a power storage system 120. In Fig. The power storage system 120 includes a capacitor 19 as a capacitor, a step-up / down converter 100, and a DC bus 110. The DC bus 110 as the second capacitor controls the transfer of electric power between the capacitor 19 as the first capacitor, the electric motor generator 12 and the electric motor for swiveling 21. The capacitor 19 is provided with a capacitor voltage detecting portion 112 for detecting the capacitor voltage value and a capacitor current detecting portion 113 for detecting the capacitor current value. The capacitor voltage value and the capacitor current value detected by the capacitor voltage detection section 112 and the capacitor current detection section 113 are supplied to the controller 30. [ Although the capacitor 19 is shown as an example of the capacitor in the above description, the capacitor 19 may be replaced with a rechargeable secondary battery such as a lithium ion battery or the like, a lithium ion capacitor, or any other type of power source May be used as a capacitor.

The step-up and step-down converter 100 performs control for switching the step-up operation and step-down operation so that the DC bus voltage value falls within a predetermined range in accordance with the operation state of the electric motor generator 12 and the swing electric motor 21. [ The DC bus 110 is disposed between the inverters 18 and 20 and the up / down converter 100. The DC bus 110 is connected between the capacitor 19, the motor / generator 12, And carry out.

11, the inverter 20 is provided between the swing motor 21 and the power storage system 120, and based on a command from the controller 30, drives the swing motor 21 Control is performed. Thus, the inverter 20 supplies necessary electric power from the power storage system 120 to the swinging electric motor 21 when the swinging electric motor 21 is performing the reverse operation. Further, when the electric motor for swiveling 21 is under power generation operation, electric power generated by the swivel electric motor 21 is stored in the capacitor 19 of the electric storage system 120.

The swivel electric motor 21 is provided for driving the swivel mechanism 2 of the upper swivel body 3 as long as it is an electric motor capable of both backward operation and power generation operation. During the backward running, the rotational driving force of the swinging electric motor 21 is amplified in the swing transmission 24, and the upper swing body 3 is controlled to accelerate and decelerate to perform rotational motion. During the power generation operation, the inertial rotation of the upper revolving structure 3 is increased in the number of revolutions in the swing transmission 24 and is transmitted to the swinging electric motor 21 to generate regenerative electric power. Here, the swing electric motor 21 is an AC motor driven by the inverter 20 in accordance with a PWM (Pulse Width Modulation) control signal. The swinging electric motor 21 can be constituted by, for example, a magnet built-in IPM motor. As a result, a larger induced electromotive force can be generated, so that the electric power generated by the swing motor 21 at the time of regeneration can be increased.

The charging and discharging control of the capacitor 19 of the power storage system 120 is performed by controlling the charging state of the capacitor 19, the operating state of the electric motor generator 12 (reverse operation or power generation operation), the operation of the electric motor 21 Is performed by the controller (30) based on the state (reverse operation or regenerative operation).

The resolver 22 is a sensor for detecting the rotational position and the rotational angle of the rotational shaft 21A of the swinging electric motor 21. [ More specifically, the resolver 22 detects the difference between the rotational position of the rotational shaft 21A before the rotation of the electric motor 21 for swiveling and the rotational position after the left or right rotation, The rotation direction is detected. The rotational angle and rotational direction of the swivel mechanism 2 are derived by detecting the rotational angle and rotational direction of the rotational shaft 21A of the swiveling electric motor 21. [

The mechanical brake 23 is a braking device that generates a mechanical braking force and mechanically stops the rotating shaft 21A of the swinging electric motor 21. [ The mechanical brake 23 is switched between braking / releasing by an electronic switch. This switching is performed by the controller 30. Fig.

The swivel transmission 24 is a transmission that mechanically transmits the rotation of the rotary shaft 21A of the swivel electric motor 21 to the swivel mechanism 2 at a reduced speed. Thus, at the time of backward running, the rotational force of the swinging electric motor 21 can be increased, and a larger rotational force can be transmitted to the upper swing body 3. On the contrary, during the regenerative operation, the rotation generated in the upper revolving structure 3 can be increased and mechanically transmitted to the swivel electric motor 21.

The turning mechanism 2 is pivotable in a state in which the mechanical brake 23 of the swinging electric motor 21 is released so that the upper swing body 3 is turned leftward or rightward.

The controller 30 performs the operation control of the electric motor generator 12 (switching of electric assist operation or electric power generation operation) and the control of the voltage of the capacitor 19 Charge / discharge control is performed. The controller 30 determines whether or not the charging state of the capacitor 19, the operating state (electric assist operation or power generation operation) of the electric motor generator 12 and the operation state (reverse operation or regenerative operation) Down converter 100 and performs switching control of the step-down operation, thereby performing charge / discharge control of the capacitor 19. [ The controller 30 also controls the amount of charge (charge current or charge power) charged in the capacitor 19. [

The step-up and step-down operations of the step-up and step-down converter 100 are controlled by the DC bus voltage value detected by the DC bus voltage detection unit 111, the capacitor voltage value detected by the capacitor voltage detection unit 112, Based on the value of the capacitor current detected by the current detection unit 113.

The electric power generated by the motor generator 12 as an assist motor is supplied to the DC bus 110 of the power storage system 120 via the inverter 18 and supplied to the capacitor 19 through the up / down converter 100. The regenerative power generated by the regenerative operation of the swing motor 21 is supplied to the DC bus 110 of the power storage system 120 through the inverter 20 and is supplied to the capacitor 19 .

Next, another example of the hybrid showbear for executing the control method according to the embodiment of the present invention will be described with reference to FIG. 13 is a block diagram showing a configuration example of a drive system of hybrid shovel. In Fig. 13, the mechanical dynamometer shows double lines, the high-pressure hydraulic line shows a bold solid line, the pilot line shows a broken line, and the electric drive and control system shows a thin solid line. The drive system of Fig. 13 is different from the drive system of Fig. 13 in that the two output shafts of the engine 11 and the motor generator 12 are connected to the main pump 14 via the transmission 13 11 in that an output shaft of an electric motor 400 driven by a pump is connected to the main pump 14 (serial method). However, in other respects, it is common to the drive system of Fig.

The control method according to the embodiment of the present invention is also applicable to the hybrid shovel having the above configuration.

Next, with reference to Fig. 14, a description will be given of a normalizing mode, which is an example of the automatic selecting mode. Fig. 14 is an explanatory diagram of a coordinate system used in the normal plane arrangement mode, and corresponds to F3A in Fig. 3. The lever setting in the normal mode is the same as the lever setting in the automatic selection mode shown in F5B of Fig. 14 shows an XYZ three-dimensional orthogonal coordinate system including an X-axis parallel to a horizontal plane and a Z-axis perpendicular to a horizontal plane at a point using a UVW three-dimensional Cartesian coordinate system including a U-axis parallel to the oblique plane and a W- 3, which is different from F3A in Fig. However, the surface angle? ₁ can be set by the operator through the surface angle input unit before executing the surface leveling mode. 14 shows a case in which a flat surface is formed in a negative direction in the W-axis direction, that is, a downward slope as viewed from the showbell.

Here, the three-dimensional coordinates of bumpin position (P1) (U, V, W) = (H 0U, 0, H 0W) , the three-dimensional coordinates of the bucket tip position (P4) and (U, V, W) = Ue and We are expressed by the equations (1) 'and (2)', respectively, as in the above-described equations (1) and (2). Where Ue and Ve represent the position in the UV plane of the end attachment and We represent the distance from the UV plane of the end attachment.

_{Ue = H 0U + L 1 cosβ} 1 '+ L 2 cosβ 2' + L 3 cosβ 3 '... (One)'

We = H _0W + L ₁ sin? ₁ '+ L ₂ sin? ₂ ' + L ₃ sin? ₃ '(2)'

However, Ve becomes 0. This is because the bucket tip position P4 exists on the UW plane. Further, the angle (β ₁ ') is a perceptual angle for the slopes obtained by adding the angle (γ ₁₎ to (β _1). Similarly, the angle (β ₂ ') is, for perception and angle (β ₂₎ adding the slopes an angle (γ _1), the angle (β _3') is, for perception slopes an angle (γ ₁₎ to (β ₃₎ .

When the three-dimensional coordinates of the bucket pin position P3 are (U, V, W) = (U _P3 , V _P3 , W _P3 ), UP3 and WP3 are calculated by the above- Similarly, they are expressed by equations (6) 'and (7)', respectively.

_{U P3 = H 0U + L 1} cosβ 1 '+ L 2 cosβ 2' ... (6) '

W _P3 = H _0W + L ₁ sin? ₁ '+ L ₂ sin? ₂ ' ... (7) '

The U coordinate value Ue of the U coordinate is increased while the value Ve of the V coordinate of the bucket tip position P4 and the value We of the W coordinate are made unchanged when the lever 26B is turned forward , At least one of the boom (4), the arm (5), and the bucket (6) moves.

When the lever 26B is turned backward, the value U of the U coordinate is obtained while the value Ve of the V coordinate of the bucket tip end position P4 and the value We of the W coordinate are made unchanged, At least one of the boom (4), the arm (5), and the bucket (6) moves.

That is, according to the operation in the forward and backward direction of the lever 26B (corresponding to the X direction operation in F5B in Fig. 5, hereinafter referred to as "U direction operation"), the bucket tip position P4 is shifted in the U- It moves. The bucket tip end position P4 moves in the W axial direction in accordance with the operation of the lever 26A in the forward and backward direction (corresponding to the Z directional operation of F5B in Fig. 5, hereinafter referred to as "W directional operation & . Further, the controller 30 may combine the UVW three-dimensional orthogonal coordinate system and the XYZ three-dimensional orthogonal coordinate system to move the bucket tip end position P4 in the U-axis direction in accordance with the operation of the operator's lever 26B in the anteroposterior direction, The bucket tip end position P4 may be set to move in the Z-axis direction in accordance with the operation of the lever 26A in the forward and backward directions.

However, the control executed in the forward and backward directions of the levers 26A and 26B in the flat surface sorting mode, that is, the control performed in accordance with the U directional operation and the U directional operation of the bucket 6 as the end attachment is referred to as " Quot; Control performed in accordance with the operation of the lever 26A in the lateral direction and the operation of the lever 26B in the lateral direction in the normal mode is the same as in the automatic selecting mode.

In this manner, the operator can move the bucket 6 along the desired surface by using the lateral surface position control in the rear surface rearrangement mode as an example of the X-direction movement control (plane position control) in the automatic selecting mode It can be easily realized.

Next, another example of the normal mode will be described with reference to Figs. 15 and 16. Fig. FIG. 15 is an explanatory diagram of a coordinate system used in the normal plane mode, and corresponds to F3A in FIG. 3. Fig. 16 is a view for explaining the movement of the front attachment in the XZ plane, and corresponds to Fig. The lever setting in the normal mode is the same as the lever setting in the automatic selection mode shown in F5B of Fig. 15 and Fig. 16 are common to F3A and Fig. 4 in Fig. 3 but in other points in that they show the transition of the normal angle? ₁ and the bucket tip position P4. However, the curved surface angle? ₁ can be set by the operator before executing the surface arrangement mode. Figs. 15 and 16 show a case in which a flat surface is formed in a negative direction in the Z-axis direction, that is, a downward slope as viewed from the showbell.

The slopes cleanup mode, jeothimyeon the lever (26B) in the forward direction, and a value (Ye) in Y coordinates of the bucket tip position (P4) unchanged, and, angle of slopes (SF1) and the bucket tip position (γ ₁₎ ( At least one of the boom 4, the arm 5, and the bucket 6 moves so that the X-coordinate value Xe increases while the distance between the boom 4 and the bucket 6 is constant. That is, the bucket tip position P4 moves on the plane SF2 parallel to the flat surface SF1 in the direction perpendicular to the Y-axis and in the direction away from the showbell. At this time, the value of the Z coordinate (Ze) increases when it is a surface of a rising gradient as viewed from a showbell, and decreases when it is a surface of a descending gradient as viewed from a showbell. 15. Fig. 15 shows a downward slope SF1 viewed from the showbell.

When the lever 26B is retracted rearward, the Y value of the Y coordinate of the bucket tip end position P4 is made unchanged and also between the normal surface SF1 and the bucket tip end position P4 At least one of the boom 4, the arm 5, and the bucket 6 moves such that the X-coordinate value Xe decreases while the distance of the bucket 6 is constant. That is, the bucket tip end position P4 moves on the plane SF2 parallel to the plain surface SF1 in the direction perpendicular to the Y-axis and in the direction toward the shovel. At this time, the value of the Z coordinate (Ze) decreases when it is a surface of a rising gradient as viewed from a showbell, and increases when it is a surface of a descending gradient as viewed from a showbell.

Here, the three-dimensional coordinates of the current bucket tip position P4 are (X, Y, Z) = (Xe, Ye, Ze) (= Ze'-Ze) in the Z-axis direction is expressed by the following equation (7): Ze = Zea = (8).

? Ze =? Xe x tan? ₁ ... (8)

Further, in the normal mode, the position control of the bucket pin position P3 may be performed instead of the position control of the bucket tip position P4. In this case, the Y coordinate value Y _P3 of the bucket pin position P3 is made unchanged and the distance between the rectangular face SF1 of the angle ₁ and the bucket pin position P3 is made unchanged At least one of the boom 4, the arm 5, and the bucket 6 moves such that the value _Xp3 of the X coordinate changes. That is, the bucket pin position P3 moves in a direction perpendicular to the Y axis on a plane parallel to the flat surface SF1.

Here, the three-dimensional coordinates of the current bucket pin position P3 are (X, Y, Z) = (X _P3 , Y _P3 , Z _P3 ) X, Y, Z) = (X _p3 ', Y _p3', Z _p3 ') to, and the amount of movement of the X-axis direction _{ΔX p3 (= X p3' -X} p3) when, the amount of movement of the Z-axis direction by ΔZ _p3 (= Z _p3 '- Z _p3 ) is expressed by equation (9).

? Zp ₃ =? Xp ₃ x tan? ₁ ... (9)

However, in the present embodiment, the control executed in the forward and backward directions of the lever 26B in the flattening mode, that is, the control performed in accordance with the X directional operation of the bucket 6 as the end attachment is referred to as " It is called. The control performed in accordance with the operation of the lever 26A in the normal mode and the operation in the lateral direction of the lever 26B are the same as those in the automatic selecting mode.

In this manner, the operator can move the bucket 6 according to the desired surface by using the lateral surface position control in the rear surface rearrangement mode as an example of the X-direction movement control (plane position control) in the automatic still mode It can be easily realized.

Although the preferred embodiments of the present invention have been described in detail, the present invention is not limited to the above-described embodiments, and various modifications and permutations may be added to the above-described embodiments without departing from the scope of the present invention. have.

For example, in the above-described embodiment, the bucket 6 is used as the end attachment, but a lifting magnet, a breaker, or the like may be used.

The present application is based on Japanese Patent Application No. 2012-131013 filed on June 8, 2012, the entire contents of which are incorporated herein by reference.

1: Lower traveling body
1A, 1B: Driving hydraulic motor
2: Swivel mechanism
3: upper revolving body
4: Boom
4S: Boom angle sensor
5: Cancer
5S: Rock angle sensor
6: Bucket
6S: Bucket angle sensor
7: Boom cylinder
8: Female cylinder
9: Bucket cylinder
10: Cabin
11: Engine
12: Electric generator
13: Transmission
14: main pump
14A: Regulator
15: Pilot pump
16: High pressure hydraulic line
17: Control valve
18: Inverter
19: Capacitors
20: Inverter
21: Motor for turning
21A:
22: Resolver
23: Mechanical brake
24: turning transmission
25: Pilot line
26: Operation device
26A, 26B: Lever
26C: Pedal
27, 28: Hydraulic line
29: Pilot pressure sensor
30: Controller
100: Step-up / down converter
110: DC bus
111: DC bus voltage detector
112: Capacitor voltage detector
113: Capacitor current detector
120: power storage system
CP1, CP2, CP3: pump discharge amount deriving unit
CX: X-direction command value generator
CZ: Z-direction command value generator

Claims (16)

Wherein the control of the height of the end attachment is performed while the height of the end attachment is controlled by the operation of one lever or the height control of the end attachment is executed while maintaining the plane position of the end attachment. The method according to claim 1,
And maintains an angle with respect to a horizontal plane of the end attachment when performing the planar position control or the height control. 3. The method according to claim 1 or 2,
And generates an instruction value relating to at least an operation of the boom and the arm in the operating body based on the operation amount of the one lever. 3. The method according to claim 1 or 2,
And the angle of the end attachment with respect to the horizontal plane is independently adjusted by operation of another one of the levers. 3. The method according to claim 1 or 2,
And controlling the turning independently by the operation of another one of the levers. The method of claim 3,
And feedback control is performed on each of the operating bodies based on an output of an attitude sensor mounted on each of the operating bodies. 3. The method according to claim 1 or 2,
And performing plane position control or height control of the end attachment with respect to a plane parallel to the obtuse surface having the set obtuse angle by the operation of the one lever. 3. The method according to claim 1 or 2,
The plane position control of the end attachment is performed on the plane parallel to the plane having the set angle of the side face by the operation of the one lever and the plane position control is performed on the plane parallel to the plane or the horizontal plane Wherein the height control of the end attachment is performed with respect to the end attachment. Wherein the control of the height of the end attachment is performed while the height of the end attachment is controlled by the operation of one lever or the height of the end attachment is controlled while maintaining the plane position of the end attachment. 10. The method of claim 9,
And maintains an angle with respect to a horizontal plane of the end attachment in the case of executing the plane position control or the height control. 11. The method according to claim 9 or 10,
And generates at least a command value relating to the operation of the boom and the arm in the operating body based on the operation amount of the one lever. 11. The method according to claim 9 or 10,
And the angle of the end attachment with respect to the horizontal plane is adjusted independently by operation of another one of the levers. 11. The method according to claim 9 or 10,
And controlling the turning independently by the operation of another one of the levers. 12. The method of claim 11,
And feedback control is performed on each of the operating bodies based on an output of an attitude sensor mounted on each of the operating bodies. 11. The method according to claim 9 or 10,
Wherein the planar position control or the height control of the end attachment is performed on a plane parallel to a surface having a set surface angle by operation of the one lever. 11. The method according to claim 9 or 10,
The plane position control of the end attachment is performed on the plane parallel to the plane having the set angle of the side face by the operation of the one lever and the plane position control is performed on the plane parallel to the plane or the horizontal plane And controls the height of the end attachment with respect to the height of the end attachment.

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